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kth-ros-pkg / abb_irb14000_core

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Support open source abb_libegm #2

Open YoshuaNava opened 6 years ago

YoshuaNava commented 6 years ago

The HW interface, as it is now, supports the old version of libegm that we have at KTH (delivered to us in January of 2017). Support for the new, open-source version of libgegm is on the way.

YoshuaNava commented 6 years ago

Hi @jontje, In the abb_libegm readme, it is said that it supports joint and pose mode. Does this also apply to YuMi?

diogoalmeida commented 6 years ago

Would pose mode mean you can command a cartesian pose to the end-effector?

gavanderhoorn commented 6 years ago

No, pose mode is not supported on YuMi right now. That is not a limitation of the library, but of the EGM implementation on the robot right now.

Would pose mode mean you can command a cartesian pose to the end-effector?

@diogoalmeida: yes.

jontje commented 6 years ago

@gavanderhoorn is correct